Joanna Lumley said: "Isn't it odd, we feel we are so familiar with Japan, with sushi and Toshiba, kimonos and Hello Kitty, tsunamis and sake... and yet when we travelled around that spectacular country I couldn't even guess at the unknown wonders that were in store for us.

"Every moment was thrilling, fascinating and often very moving. With my hand on my heart I can say: please come with me… to Japan!"